Grid-based localization and mapping method without odometry information

In this paper, we propose a new localization and mapping method using the gridded map and range scan data only. The proposed method is applied to the autonomous wheelchair system. In this method we applied Particle Swarm Optimization (PSO) with appropriate initial values to estimate displacements of position and orientation of the wheelchair. We compared a conventional method that used cross correlation from a previous scan data and a current scan data and our method in some experiments. The experimental results in four situations show the high accuracy estimation and high processing speed of our method.